System for cleaning robotic surgical instruments

ABSTRACT

An apparatus for cleaning robotic surgical instruments includes an ultrasonic emersion tank having cleaning fluid there within and a device for providing negative pressure or suction (e.g. a pump) through a tool-end cleaning chamber. Cleaning fluid is drawn into the tool-end cleaning chamber through a plurality of intake holes in the tool-end cleaning chamber by the suction, thereby creating turbulence and flow around an end of a robotic surgical instrument that is positioned in the tool-end cleaning chamber. Cleaning of the shaft and control box of the robotic surgical instrument is performed by providing negative pressure or suction to a port on the control box of the robotic surgical instrument.

FIELD

This invention relates to the field of cleaning robotic surgicalinstruments after use in surgery, and in particular to an adaptation ofa suction apparatus system that makes it possible to individually cleanboth the distal and proximal segmented areas of a robotic surgicalinstrument at the same time, while submerged in an ultrasonic cleaner.

BACKGROUND

Robotic and other laparoscopic type surgical instruments have been inuse for over a decade. In general, one or more small incisions are madein the patient and an operating device, such as a scope, or otherinstrument, is fed through the incision(s), until the surgical device(s)and/or instrument(s) reaches the site of the operation. The insertedportions of the robotic surgical instruments are typically tubular inshape. In some examples, the robotic or laparoscopic instrument is ascalpel, scissors, or other cutting device for removal or repair ofdiseased or malfunctioning tissue. Advances in surgical systems andsurgical instruments have greatly reduced operation times as well asrecovery times; such as the removal of a gallbladder, etc.

U.S. Pat. No. 5,630,436 (hereafter '436) describes one method ofcleaning that has effectively cleaned the interiors and exteriors ofchanneled tubular surgical instruments, such asorthoscopic/laparoscopic/endoscopic/and bone reamers. The '436 patentutilizes ultrasonic transducers affixed to the bottom of an ultrasonictank that has been filled with cleaning solution, wherein the ultrasonicwaves induce the separation of debris from the soiled instrument(s)placed in the ultrasonic bath. Further, in '436, the ultrasonic tank isattached to an independent suction apparatus that works simultaneouslyto suction out the loosened debris from the interior and tool end of achanneled tubular surgical instrument while it is being cleaned in theultrasonic bath. More recently, this is accomplished by inserting justthe distal tool end of the channeled tubular surgical instrument througha hole in the capped, individually dedicated, inline maximizing suctioncleaning chamber, inline filter, inline pump, and inline fluid returntube that returns the filtered ultrasonic tank cleaning solution back tothe ultrasonic bath wherein the attached channeled tubular surgicalinstrument is laying on the bottom of the fluid filled activatedultrasonic tank. The current configuration of the '436 can individuallyclean up to six channeled tubular surgical instruments at the same timeusing this well established cleaning system.

The combined surgical instrument cleaning methods of '436 have been usedsuccessfully in cleaning many types of flow through channeled tubularsurgical instruments. However, this singular hookup method for cleaningchanneled tubular surgical instruments in the '436 is incapable ofadequately cleaning Robotic tubular surgical instruments, such as the daVinci@ robotic surgical instruments manufactured by Intuitive Surgical,Inc., because one or more tight seals have been placed as a barrierbetween the distal tool end and the proximal shaft/control box end ofthe channeled areas within the robotic instrument in an effort tocurtail the amount of bio burden at the tool end from migrating up intothe segmented shaft/control box end; which reduces but does not totallyprevent bio burden from migrating into the segmented proximal end of therobotic instrument.

The typical institutional practice for cleaning the distal tool end of arobotic surgical instrument is to scrub it by hand; which is timeconsuming, tedious, potentially dangerous, and can lead to liability andworkman's compensation issues.

What is needed is a safer more cost effective automated way to cleanboth the distal and the proximal segmented areas of robotic surgicalinstruments.

SUMMARY

In one embodiment, an apparatus for cleaning robotic surgicalinstruments is disclosed, the apparatus including an ultrasonic emersiontank having cleaning fluid there within and a device for providingnegative pressure (e.g. suction from a pump) through a tool-end cleaningchamber (preferably through a filter). Cleaning fluid is drawn into thetool-end cleaning chamber through a plurality of orifices in thetool-end cleaning chamber by the suction, thereby creating turbulencearound a tool-end of a robotic surgical instrument inserted into thetool-end cleaning chamber. Since some robotic surgical instruments havevery efficient seals at the tool-end, in addition to the cleaningchamber, the control end of the robotic surgical instruments isconnected to a second source of negative pressure (e.g. suction from apump) which circulates the cleaning fluid through all accessible areasof the control end and shaft of the robotic surgical instrument.

In another embodiment, a method of cleaning robotic surgical instrumentsis disclosed including inserting a tool-end of a robotic surgicalinstrument into a tool-end cleaning chamber and immersing the roboticsurgical instrument and the tool-end cleaning chamber into cleaningfluid within an ultrasonic emersion tank. Next, negative pressure(suction) is applied to an orifice of the tool-end cleaning chamber,thereby causing flow of the cleaning fluid into the tool-end cleaningchamber through a plurality of ports, creating turbulence within thetool-end cleaning chamber. The control end of the robotic surgicalinstruments is cleaned by connecting a second source of negativepressure (e.g. suction from a pump) to the control end of the roboticsurgical instrument. This suction circulates the cleaning fluid throughall accessible areas of the control end and shaft of the roboticsurgical instrument.

In another embodiment, apparatus for cleaning robotic surgicalinstruments is disclosed including an ultrasonic emersion tank havingcleaning fluid there within. A device for providing negative pressure orsuction (e.g. a pump) pulls cleaning fluid though a tool-end cleaningchamber and a filter, and cleaning fluid is drawn into the tool-endcleaning chamber through a plurality of orifices in the tool-endcleaning chamber by the negative pressure (suction), thereby creatingturbulence around a tool-end of a robotic surgical instrument insertedinto the tool-end cleaning chamber. Coupled to the ultrasonic tank is adevice for creating ultrasonic waves within the cleaning fluid. Sincesome robotic surgical instruments have very efficient seals at thetool-end, in some embodiments, the control end of the robotic surgicalinstruments is connected to a second source of negative pressure (e.g.suction from a pump) which circulates the cleaning fluid through allaccessible areas of the control end and shaft of the robotic surgicalinstrument.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention can be best understood by those having ordinary skill inthe art by reference to the following detailed description whenconsidered in conjunction with the accompanying drawings in which:

FIG. 1 illustrates a cut-away view of a tool-end cleaning chamber of asystem for cleaning robotic surgical instruments.

FIG. 2 illustrates a cut-away view of a control box/shaft-end cleaningchamber of the system for cleaning robotic surgical instruments.

FIG. 3 illustrates a plan view of the system for cleaning roboticsurgical instruments.

FIG. 4 illustrates a cut-away view of a tool-end cleaning chamber of thesystem for cleaning robotic surgical instruments having there within atool-end of a robotic surgical instrument.

DETAILED DESCRIPTION

Reference will now be made in detail to the presently preferredembodiments of the invention, examples of which are illustrated in theaccompanying drawings. Throughout the following detailed description,the same reference numerals refer to the same elements in all figures.

The system for cleaning robotic surgical instruments is shown anddescribed in use with one specific soiled instrument, e.g., as shown ada Vinci@ robotic surgical instrument. This is one of the many differentsoiled instruments that system for cleaning robotic surgical instrumentswill clean and is shown as an example of such, not to be taken aslimiting in any way. In general, such instruments are anticipated to beof generally elongated shape, though not required to be such. Also, suchinstruments are also anticipated to have tubular shafts with a controlportion at one end of the shaft and a tool-end portion at an opposingend of the shaft, but again, there is no specific limitation on theoverall shape, geometry, or size of the instruments to be cleaned.

The system for cleaning robotic surgical instruments operates on fourbase principles: immersing the soiled instrument in a cleaning solution;dislodging debris from the soiled instruments using ultrasonic waves;pumping fluid away from the instrument so that dislodged debris willflow out of the instrument and be captured in filters; and fluid jetcleaning of the tool-end of the instrument; as will be shown in thedescription related to the drawings. By pumping fluid away from the bothends to the robotic surgical instruments, any dislodged debris is pulledout of the robotic surgical instruments and trapped in a filter, ratherthan being pushed back into the robotic surgical instruments where ismay get further lodged and, hence, not cleaned sufficiently.

Referring to FIG. 1, a cut-away view of a tool-end cleaning chamber 10of a system for cleaning robotic surgical instruments90/92/93/94/96/98/99 (see FIGS. 1-4) is shown. The tool-end cleaningchamber 10 comprises a body 12 that has a hollow core 14 that ispreferably of a diameter slightly larger than a diameter of the expectedtool-end 93/94, a suction attachment port 16, and an open receptor end20. The tool-end cleaning chamber 10 is made of any suitable materialsuch as a solid material that resists oxidation and accumulation ofdebris for example stainless steel or a hard plastic. The open end 20 ofthe tool-end cleaning chamber 10 engages with a flexible nipple 22 orcover 22. The flexible nipple 22 has an orifice 24, through which thetool-end 93/94 of a soiled surgical instrument is inserted, forming aseal around the shaft 92 of the robotic surgical instrument90/92/93/94/96/98/99. The tool-end 93/94 is the end which typically isinserted into the patient for cutting of tissue, etc., and the tool-end93/94 typically acquires a large share of the body tissue and fluidsduring an operation.

Note that many robotic surgical instruments 90/92/93/94/96/98/99 have avery effective seal 99, through which it is difficult or impossible toflow materials through (e.g. between the tool-end 93/94 and the shaft92) and, therefore, the tool-end 93/94 needs to be cleaned separatelyfrom the shaft 92 and the control box/shaft-end 90/92/96/98, which iscleaned from ports 96/98 on the control box 90 as described with FIG. 2.

The tool-end cleaning chamber 10 has a plurality of intake holes 18 areformed in the body 12. The intake holes 18 are sized and spaced in sucha way that, as negative pressure (suction) is applied to the suctionport 16 through suction tubes 30/34 and, preferably, a filter 32,cleaning fluids 104 from the ultrasonic emersion tank 100 (see FIG. 3),flow through the intake holes 18 and into the hollow core 14, creatingturbulence that, in conjunction with or separate from the ultrasonicwaves, dislodges debris from the tool-end 93/94. As debris is dislodged,the suction pulls the debris out the suction port 16 where it flows intothe filter 32 and is trapped in the filter's media.

By keeping the hollow core 14 as narrow as to provide enough clearancefor the tool-end 93/94 to fit, the turbulence and flow created by thecleaning fluid 104 being drawn in through the intake holes 18concentrates in areas of the tool-end 93/94 that is mostly soiled.Although the intake holes 18 are shown on one side of the body 12 andequally spaced, any configuration of intake holes 18 is anticipated toprovide ample flow through the intake holes 18, causing flow andturbulence which results in improved cleaning.

Referring to FIG. 2, a cut-away view of a control-end cleaning chamber40 of a system for cleaning robotic surgical instruments90/92/93/94/96/98/99 is shown. Some systems for cleaning roboticsurgical instruments 90/92/93/94/96/98/99 are equipped to clean othertypes of surgical instruments (not shown) that permit flow of fluids inone end and out the other, as described in U.S. Pat. No. 5,630,436. Insuch, one end of this type of surgical instrument (not shown) isinserted into a cleaning chamber 40 similar to that shown in FIG. 2 and,as suction is drawn from the suction tube 60, fluids flow in to thissurgical instrument (not shown) from an end distal to the cleaningchamber 40. Being that the seals on certain robotic surgical instruments90/92/93/94/96/98/99 are very robust, this flow is not possible.Therefore, the control box 90 and shaft 92 need to be cleaned by flowingfluid through the control box 90 and shaft 92 from the control box 90.

In one embodiment, it is anticipated that the suction tube 60 isconnected directly to an orifice 96 on the control box 90 of the roboticsurgical instrument 90/92/93/94/96/98/99 by, for example, a male-malefitting 56 (not shown).

In another embodiment, because other types of surgical instruments (notshown) are often cleaned using a control box/shaft-end cleaning chamber40 similar to that shown in FIG. 2, the same control box/shaft-endcleaning chamber 40 is used. By using the same control box/shaft-endcleaning chamber 40, little or less disassembly and reassembly isrequired when switching between cleaning of different surgicalinstruments. Therefore, it is preferred to attach the controlbox/shaft-end cleaning chamber 40 to the orifice 96 on the control box90 of the robotic surgical instrument 90/92/93/94/96/98/99. In such, thecontrol box/shaft-end cleaning chamber 40 comprises a body 42 that has ahollow core 44, a suction attachment port 46, and an open receptor end50. The control box/shaft-end cleaning chamber 40 is also made of anysuitable material such as stainless steel. The open end 50 ofcontrol-end cleaning chamber 40 engages with a second flexible nipple 52(or cover). The second flexible nipple 52 has an orifice 54, throughwhich a first end of a male-male fitting 56 is inserted. An opposing endof the male-male fitting 56 interfaces with a port 96 on the control box90 of the robotic surgical instrument 90/92/93/94/96/98/99.

As negative pressure (e.g. suction) is applied to the suction port 46through suction tubes 60/64 and, preferably, a filter 62, cleaningfluids 104 from the ultrasonic emersion tank 100 (see FIG. 3), flowinto, for example, an orifice 98 of the control box 90 of the roboticsurgical instrument 90/92/93/94/96/98/99, through inner channels andshaft 92 of the robotic surgical instrument 90/92/93/94/96/98/99, outthe orifice 96 of the control box 90, through the male-male fitting 56and into the hollow core 44. As ultrasonic waves dislodge debris fromthe internal channels (e.g. of the shaft 92) of the robotic surgicalinstrument 90/92/93/94/96/98/99, the negative pressure (suction) pullsthe debris out the suction port 46 where it flows into the filter 62where the debris is trapped in the filter's media.

Referring to FIG. 3, a plan view of the system for cleaning roboticsurgical instruments 90/92/93/94/96/98/99 is shown. The tool-end 93/94of a soiled robotic surgical instrument 90/92/93/94/96/98/99 is showninserted into the tool-end cleaning chamber 10, passing through theorifice 24 in the flexible nipple 22. As suction (negative pressure) ispulled from the suction attachment port 16 of the tool-end cleaningchamber 10, cleaning fluid 104 flows into the hollow core 14 of thetool-end cleaning chamber 10 through the plurality of intake holes 18,creating turbulence within the hollow core 14, thereby dislodging debrisfrom the tool-end 93/94, which debris flows along the path of thesuction through the suction tube 30 and is trapped within the optionalfilter 32. The filter is operatively connected to a source of negativepressure (suction) such as a pump 84, by a continuing tube 34. As thepump operates and receives fluid from the filter 32 and tube 34, thefluid is recirculated into the ultrasonic emersion tank 100 through anexit tube 86.

The male-male fitting 56 is shown interfacing between the orifice of the54 of the second flexible nipple 52 and the orifice 96 on the controlbox/shaft-end 90 of the robotic surgical instrument90/92/93/94/96/98/99. As suction is pulled from the suction port 46 by asecond pump 80 (or in some embodiment, the same pump 84), debris fromwithin the soiled robotic surgical instrument 90/92/93/94/96/98/99 ispulled through suction tube 60 and is captured by a filter 62. Afterpassing through the pump 80, the fluid is recirculated back into theultrasonic emersion tank 100 through an exit tube 82.

During cleaning, it is preferred that the entire robotic surgicalinstrument 90/92/93/94/96/98/99 is submerged within the cleaning fluid104 of the ultrasonic emersion tank 100. In this, ultrasonic waves fromthe ultrasonic emitting device 102 will vibrate debris from the surfacesof the robotic surgical instrument 90/92/93/94/96/98/99.

Referring to FIG. 4, a cut-away view of a tool-end cleaning chamber 10of the system for cleaning robotic surgical instruments90/92/93/94/96/98/99 having there within placed an tool-end of a roboticsurgical instrument 90/92/93/94/96/98/99 is shown. The tight fit betweenthe orifice 24 of the flexible nipple 22 attached to the opening 20 ofthe tool-end cleaning chamber 10 and the extended shaft 92 of therobotic surgical instrument 90/92/93/94/96/98/99 is visible in FIG. 4.As negative pressure (suction) is applied to the suction port 16 throughsuction tubes 30/34 and the filter 32, cleaning fluids 104 from theultrasonic emersion tank 100, flow into the hollow core 14 through theintake holes 18 and into the hollow core 14, forming turbulence (shownas looping arrows). As the ultrasonic waves and the turbulent flowdislodge debris from the tool-end 93/94 of the robotic surgicalinstrument 90/92/93/94/96/98/99, the suction pulls the debris out thesuction port 16 where the debris flows into and is trapped in the filter32. The remaining cleaning fluid 104 flows through the pump 84 and isreturned back into the ultrasonic emersion tank 100.

It is anticipated that any number of pumps 80/84 are used, including onepump 80. Likewise, it is anticipated that any number of filters 32/62are used, including one filter 32. It is also anticipated that multiplerobotic surgical instrument 90/92/93/94/96/98/99 be cleanedsimultaneously within the same ultrasonic emersion tank 100, providingmultiple sets of tool-end cleaning chambers 10 and control box/shaft-endcleaning chambers 40, with as many pumps 80/84 and filters 32/62 asneeded.

Equivalent elements can be substituted for the ones set forth above suchthat they perform in substantially the same manner in substantially thesame way for achieving substantially the same result.

It is believed that the system and method as described and many of itsattendant advantages will be understood by the foregoing description. Itis also believed that it will be apparent that various changes may bemade in the form, construction and arrangement of the components thereofwithout departing from the scope and spirit of the invention or withoutsacrificing all of its material advantages. The form herein beforedescribed being merely for example and showing explanatory embodimentthereof. It is the intention of the following claims to encompass andinclude such changes.

What is claimed is:
 1. An apparatus for cleaning robotic surgicalinstruments, the apparatus comprising: an ultrasonic immersion tankhaving a transducer that emits ultrasonic waves; cleaning fluid withinthe ultrasonic immersion tank; a pump; a tool-end cleaning chamberfluidly interfaced to the pump through a suction attachment port on oneside of a body of the tool-end cleaning chamber, the tool-end cleaningchamber filled with the cleaning fluid, whereas, as the pump pulls thecleaning fluid from within the tool-end cleaning chamber, the cleaningfluid is drawn into the tool-end cleaning chamber solely through aplurality of intake holes in body of the tool-end cleaning chamber, theintake holes aligned in linear fashion on a second lengthwise side ofthe tool-end cleaning chamber, the second lengthwise side of thetool-end cleaning chamber being opposite to the one side of the body ofthe tool-end cleaning chamber, thereby creating turbulence for cleaninga tool-end of a robotic surgical instrument that has been inserted intothe tool-end cleaning chamber and whereas the ultrasonic waves dislodgedebris from the tool-end of the robotic surgical instrument; and acontrol box/shaft-end cleaning chamber and a second pump, the controlbox/shaft-end cleaning chamber has a fitting that interfaces into anorifice of a control box of the robotic surgical instrument such thatthe cleaning fluid is drawn into the control box of the robotic surgicalinstrument through a second orifice, the cleaning fluid is pulledthrough a shaft of the robotic surgical instrument, the cleaning fluidis pulled out of the orifice, then the cleaning fluid is pulled throughthe control box/shaft-end cleaning chamber by the second pump.
 2. Theapparatus for cleaning robotic surgical instruments of claim 1, whereindebris from the tool-end of the robotic surgical instrument is capturedby a filter before the cleaning fluid is returned from the pump backinto the ultrasonic immersion tank.
 3. The apparatus for cleaningrobotic surgical instruments of claim 1, wherein the tool-end cleaningchamber is made of steel; and wherein the ultrasonic immersion tankcomprises a tank, the tank at least partially filled with the cleaningfluid, and an ultrasonic emitter operatively coupled to the tank suchthat the ultrasonic emitter emits ultrasonic waves that flow through thecleaning solution within the tank, thereby dislodging debris from therobotic surgical instrument.
 4. The apparatus for cleaning roboticsurgical instruments of claim 1, further comprising a second filter, thesecond filter removing debris from the cleaning fluid after the cleaningfluid exits the control box/shaft-end cleaning chamber and before thecleaning fluid returns to the ultrasonic immersion tank.
 5. Theapparatus for cleaning robotic surgical instruments of claim 1, whereinfitting is a male-male fitting.
 6. The apparatus for cleaning roboticsurgical instruments of claim 1, wherein the tool-end cleaning chamberhas a hollow body made of steel and the tool-end cleaning chamber has anopen end, the open end covered by a flexible nipple cap having anorifice through which the tool-end of the robotic surgical instrument isinserted.
 7. The apparatus for cleaning robotic surgical instruments ofclaim 5, wherein the control box/shaft-end cleaning chamber has a hollowbody made of steel and the control box/shaft end cleaning chamber has anopen end, the open end covered by a second flexible nipple, the secondflexible nipple having an orifice through which an end of the male-malefitting is coupled.
 8. An apparatus for cleaning robotic surgicalinstruments, the apparatus comprising: an ultrasonic immersion tank;cleaning fluid within the ultrasonic immersion tank; a pump; a tool-endcleaning chamber fluidly interfaced to the pump through a suctionattachment port on one side of a body of the tool-end cleaning chamber,the tool-end cleaning chamber submerged in the cleaning fluid, thetool-end cleaning chamber filled with the cleaning fluid, whereas,cleaning fluid is drawn into the tool-end cleaning chamber through aplurality of intake holes the intake holes aligned in linear fashion ona lengthwise second side of the body of the tool-end cleaning chamber bythe pump, the lengthwise second side being opposite to the one side ofthe body of the tool-end cleaning chamber, thereby creating a flow ofthe cleaning fluid across a tool-end of a robotic surgical instrumentinserted into the tool-end cleaning chamber; an ultrasonic generatorinterfaced to the ultrasonic immersion tank such that ultrasonic wavesfrom the ultrasonic generator dislodge debris from the tool end of therobotic surgical instrument inserted into the tool-end cleaning chamber;and a second pump fluidly interfaced to a first orifice of a control boxof the robotic surgical instrument through a fitting that has a firstside inserted into the first orifice and a second side interfaced to thesecond pump such that the cleaning fluid is drawn into the roboticsurgical instrument through a second orifice of the control box, thecleaning fluid is pulled through the control box, the cleaning fluid ispulled through a shaft of the robotic surgical instrument, and thecleaning fluid is pulled out of the first orifice.
 9. The apparatus forcleaning robotic surgical instruments of claim 8, wherein walls of thetool-end cleaning chamber are made of steel for conducting theultrasonic waves from the fluid in the ultrasonic immersion tank to thefluid within the tool-end cleaning chamber.
 10. The apparatus forcleaning robotic surgical instruments of claim 8, wherein debris fromthe end of the robotic surgical instrument is captured by a filterbefore the cleaning fluid is returned back into the ultrasonic immersiontank.
 11. The apparatus for cleaning robotic surgical instruments ofclaim 9, further comprising a second filter, the second filter removingdebris from the cleaning fluid after the cleaning fluid exits the firstorifice and before the cleaning fluid returns to the ultrasonicimmersion tank.